CN102561424A - Three-freedom-degree connection rod working device for heavy load - Google Patents
Three-freedom-degree connection rod working device for heavy load Download PDFInfo
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- CN102561424A CN102561424A CN2011104442869A CN201110444286A CN102561424A CN 102561424 A CN102561424 A CN 102561424A CN 2011104442869 A CN2011104442869 A CN 2011104442869A CN 201110444286 A CN201110444286 A CN 201110444286A CN 102561424 A CN102561424 A CN 102561424A
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Abstract
The invention relates to a three-freedom-degree connection rod working device for heavy load. Three pairs of symmetric bases are arranged on a rack, wherein the bases at one end of the rack are connected with a sleeve of a small arm oil cylinder, a piston rod of the small arm oil cylinder is connected with one end of a small arm and a piston rod of a large arm oil cylinder to form complex hinge, a sleeve of the large arm oil cylinder is connected with a large arm, the other end of the small arm is connected with a part of an end executor, one end of the large arm is connected with the base at the middle of a pedestal, the other end of the large arm is connected with the middle of the small arm, and a sleeve of an oil cylinder of the end executor is connected with another part of the end executor; the piston rod of the oil cylinder of the end executor is connected with a rocking bar, and the rocking bar is hinged at the middle of the large arm; and the rocking bar is connected with one end of a pulling rod, and the other end of the pulling rod is connected with the bases at the other end of the rack. The three-freedom-degree connection rod working device for the heavy load, disclosed by the invention, has the advantages of large working space, strong bearing capability, easiness for forward and inverse kinematics and convenience for controlling in real time.
Description
Technical field
The present invention relates to a kind of linkage, particularly a kind of Three Degree Of Freedom connecting rod equipment that is used for heavy duty.
Background technology
Mechanism is the core of machine equipment, and the innovation of mechanism is the key of machine equipment innovation always, and it is extremely important to the scientific and technological level core competitiveness that improves China's mechanized equipment that exploitation has the mechanism of independent intellectual property right accordingly.Realize function operation devices such as excavation, loading, carrying, it is comparatively general to use linkage.Chinese patent CN2559619Y relates to a kind of loader is just changeing eight connecting rod operating mechanisms; Chinese patent CN201687021U relates to a kind of loader is just changeing six-bar mechanism, and in addition, common excavator operating mechanism also is made up of connecting rod.Yet existing connecting rod equipment mostly has pluses and minuses separately, and the working space that has is big, but supporting capacity is low; Otherwise supporting capacity is high, and working space is again little.Thereby influenced the operating efficiency of mechanized equipment.
Summary of the invention
The object of the present invention is to provide the 3DOF connecting rod equipment that is used for load-carrying that a kind of working space is big, be easy to real-time control.Frame is provided with the pedestal of three pairs of symmetries; The pair of base of its mid frame one end is connected with the cylinder sleeve of a pair of forearm oil cylinder through hinge; The piston rod end of this forearm oil cylinder through an end of hinge and forearm and greatly the piston rod end of arm oil cylinder be connected and form compound hinges; The cylinder sleeve end of this big arm oil cylinder is connected with big arm through hinge, and the other end of above-mentioned forearm is connected with a position of end effector through hinge; This end effector can be multiple structure, is installed like scraper bowl, handgrip etc.One end of above-mentioned big arm is connected through the pair of base of hinge with the base middle part, and its other end is connected with the forearm middle part through hinge, and the cylinder sleeve end of a pair of end effector oil cylinder is connected with another position of above-mentioned end actuator through hinge; The piston rod end of this end effector oil cylinder is connected with a pair of rocking bar respectively through hinge, and this rocking bar is connected through the hinge at the middle part of above-mentioned big arm; Above-mentioned rocking bar also is connected with an end of a pair of pull bar through pair of hinges respectively, and the other end of this pull bar is connected three hinged distributions triangular in shape on the above-mentioned rocking bar through hinge respectively with the pedestal of the frame other end.
Above-mentioned a pair of forearm oil cylinder can use a bigger forearm oil cylinder of specification to replace, and an above-mentioned big arm oil cylinder can use the less big arm oil cylinder of a pair of specification to replace.The cylinder sleeve of above-mentioned big arm oil cylinder, forearm oil cylinder, end effector oil cylinder and the interchangeable position of piston rod.
From the frame to the end effector, form, in each plane mechanism, guaranteeing that the size and dimension of each bar can be according to actual appropriate design under the constant situation of annexation between rod member number and the rod member by the plane mechanism of two symmetries.
The present invention compared with prior art has following advantage:
(1) working space is big, and forearm makes the entire mechanism supporting capacity high with respect to the mixing form of being connected in parallel of frame, helps this mechanism and under the high capacity occasion, uses.
(2) end effector has 3 degree of freedom with respect to frame, can realize multiple function, is applied to different occasions, and like the weight carrying, heavy duty is excavated, demolishing buildings etc.
(3) reasonably multiple hinge arranges that having reduced entire mechanism takes up space, and has simplified Kinematic Analysis.
Description of drawings
Fig. 1 is a three-dimensional simplified schematic diagram of the present invention.
Fig. 2 is the three-dimensional simplified schematic diagram of excavation user mode of the present invention.
Fig. 3 is the three-dimensional simplified schematic diagram of extracting user mode of the present invention.
The specific embodiment
In a kind of three-dimensional simplified schematic diagram of Three Degree Of Freedom connecting rod equipment that is used for heavy duty shown in Figure 1; Frame 1 is provided with the pedestal of three pairs of symmetries; The pair of base of its mid frame 1 one ends is connected with the cylinder sleeve end of a pair of forearm oil cylinder 8 through hinge R10; The piston rod end of this forearm oil cylinder through an end of hinge R9 and forearm 3 and greatly the piston rod end of arm oil cylinder 9 be connected and form compound hinges; The cylinder sleeve end of this big arm oil cylinder is connected with big arm 2 through hinge R11; The other end of above-mentioned forearm is connected with a position of end effector 4 through hinge R4, and the lower end of above-mentioned big arm is connected with the pair of base at base middle part through hinge R1, and its upper end is connected with the forearm middle part through hinge R3; The cylinder sleeve end of a pair of end effector oil cylinder 7 is connected with another position of above-mentioned end actuator through hinge R8; The piston rod end of this end effector oil cylinder is connected with a pair of rocking bar 5 respectively through hinge R7, and this rocking bar is connected the middle part of above-mentioned big arm through hinge R5, and above-mentioned rocking bar 5 also passes through hinge R6 respectively and is connected with an end of a pair of pull bar 6; The other end of this pull bar is connected three hinged distributions triangular in shape on the above-mentioned rocking bar through hinge R2 respectively with the pedestal of the frame other end.
Excavate in the three-dimensional simplified schematic diagram of user mode in the present invention shown in Figure 2, end effector is the scraper bowl structure, and the annexation of other rod member is identical with Fig. 1.
Grasp in the three-dimensional simplified schematic diagram of user mode in the present invention shown in Figure 3, end effector is the handgrip structure that is installed, and the annexation of other rod member is identical with Fig. 1.
Claims (3)
1. one kind is used for heavily loaded Three Degree Of Freedom connecting rod equipment; It is characterized in that: frame (1) is provided with the pedestal of three pairs of symmetries; The pair of base of its mid frame (1) one end is connected with the cylinder sleeve of a pair of forearm oil cylinder (8) through hinge; The piston rod end of this forearm oil cylinder (8) through an end of hinge and forearm (3) and greatly the piston rod end of arm oil cylinder (9) be connected and form compound hinges; The cylinder sleeve end of this big arm oil cylinder is connected with big arm (2) through hinge; The other end of above-mentioned forearm (3) is connected with a position of end effector (4) through hinge; One end of above-mentioned big arm (2) is connected through the pair of base at hinge and frame (1) middle part, and its other end is through being connected in the middle part of hinge and the forearm (3), and the cylinder sleeve end of a pair of end effector oil cylinder (7) is passed through hinge and is connected with another position of above-mentioned end actuator (4); The piston rod end of this end effector oil cylinder (7) is connected with a pair of rocking bar (5) respectively through hinge; This rocking bar (5) is connected through the hinge at the middle part of above-mentioned big arm (2); Above-mentioned rocking bar (5) also is connected with an end of a pair of pull bar (6) through hinge respectively; The other end of this pull bar (6) is connected three hinged distributions triangular in shape on the above-mentioned rocking bar (5) through hinge respectively with the pedestal of frame (1) other end.
2. according to a kind of Three Degree Of Freedom connecting rod equipment that is used for heavy duty described in the claim 1; It is characterized in that: above-mentioned a pair of forearm oil cylinder (8) can use a bigger forearm oil cylinder of specification to replace, and an above-mentioned big arm oil cylinder (9) can use the less big arm oil cylinder of a pair of specification to replace.
3. according to claim 1 and 2 described a kind of Three Degree Of Freedom connecting rod equipments that are used for heavy duty, it is characterized in that: the cylinder sleeve of above-mentioned big arm oil cylinder, forearm oil cylinder, end effector oil cylinder and the interchangeable position of piston rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110444286.9A CN102561424B (en) | 2011-12-27 | 2011-12-27 | Three-freedom-degree connection rod working device for heavy load |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110444286.9A CN102561424B (en) | 2011-12-27 | 2011-12-27 | Three-freedom-degree connection rod working device for heavy load |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102561424A true CN102561424A (en) | 2012-07-11 |
| CN102561424B CN102561424B (en) | 2014-05-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110444286.9A Expired - Fee Related CN102561424B (en) | 2011-12-27 | 2011-12-27 | Three-freedom-degree connection rod working device for heavy load |
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| Country | Link |
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| CN (1) | CN102561424B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102995676A (en) * | 2012-12-28 | 2013-03-27 | 广西大学 | Self-adjusting reverse-rotation controllable mechanism type miniature multi-freedom-degree loading mechanism |
| CN102995677A (en) * | 2012-12-28 | 2013-03-27 | 广西大学 | Self-adjusting forward rotation controllable mechanism type miniature multi-freedom-degree loading mechanism |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101761100A (en) * | 2009-11-25 | 2010-06-30 | 李新桥 | Dual-bucket excavating manipulator |
| CN201687021U (en) * | 2010-05-21 | 2010-12-29 | 厦门厦工机械股份有限公司 | Loading machine positive rotation six-link mechanism |
| CN201762740U (en) * | 2010-04-09 | 2011-03-16 | 建德(泉州)工程机械制造有限公司 | High unloading operation mechanism for loaders |
| CN201785784U (en) * | 2010-08-19 | 2011-04-06 | 长沙中联重工科技发展股份有限公司上海分公司 | Three-hinge-point connecting rod mechanism of excavator |
| CN201809796U (en) * | 2010-08-25 | 2011-04-27 | 江苏柳工机械有限公司 | Single movable-arm forward six-connecting-rod power quick-changing work device for loading machine |
| CN202430758U (en) * | 2011-12-27 | 2012-09-12 | 燕山大学 | Heavy-load three DOF (degree of freedom) connecting rod working device |
-
2011
- 2011-12-27 CN CN201110444286.9A patent/CN102561424B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101761100A (en) * | 2009-11-25 | 2010-06-30 | 李新桥 | Dual-bucket excavating manipulator |
| CN201762740U (en) * | 2010-04-09 | 2011-03-16 | 建德(泉州)工程机械制造有限公司 | High unloading operation mechanism for loaders |
| CN201687021U (en) * | 2010-05-21 | 2010-12-29 | 厦门厦工机械股份有限公司 | Loading machine positive rotation six-link mechanism |
| CN201785784U (en) * | 2010-08-19 | 2011-04-06 | 长沙中联重工科技发展股份有限公司上海分公司 | Three-hinge-point connecting rod mechanism of excavator |
| CN201809796U (en) * | 2010-08-25 | 2011-04-27 | 江苏柳工机械有限公司 | Single movable-arm forward six-connecting-rod power quick-changing work device for loading machine |
| CN202430758U (en) * | 2011-12-27 | 2012-09-12 | 燕山大学 | Heavy-load three DOF (degree of freedom) connecting rod working device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102995676A (en) * | 2012-12-28 | 2013-03-27 | 广西大学 | Self-adjusting reverse-rotation controllable mechanism type miniature multi-freedom-degree loading mechanism |
| CN102995677A (en) * | 2012-12-28 | 2013-03-27 | 广西大学 | Self-adjusting forward rotation controllable mechanism type miniature multi-freedom-degree loading mechanism |
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| Publication number | Publication date |
|---|---|
| CN102561424B (en) | 2014-05-14 |
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Granted publication date: 20140514 Termination date: 20161227 |